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Add additional data fields that can be reported by rangefinder sensors.

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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
This commit is contained in:
Yuval Tassa
2025-12-23 15:31:53 -08:00
committed by Copybara-Service
parent f2e9097ed6
commit 70bc7be4bc
27 changed files with 712 additions and 133 deletions
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src/user/user_objects.cc
+21 -4
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@@ -7149,7 +7149,6 @@ void mjCSensor::ResolveReferences(const mjCModel* m) {
mjtDataType sensorDatatype(mjtSensor type) {
switch (type) {
case mjSENS_TOUCH:
case mjSENS_RANGEFINDER:
case mjSENS_INSIDESITE:
return mjDATATYPE_POSITIVE;
@@ -7196,6 +7195,7 @@ mjtDataType sensorDatatype(mjtSensor type) {
case mjSENS_SUBTREEANGMOM:
case mjSENS_GEOMDIST:
case mjSENS_GEOMFROMTO:
case mjSENS_RANGEFINDER:
case mjSENS_CONTACT:
case mjSENS_TACTILE:
case mjSENS_E_POTENTIAL:
@@ -7329,9 +7329,26 @@ void mjCSensor::Compile(void) {
break;
case mjSENS_RANGEFINDER:
// must be attached to site or camera
if (objtype != mjOBJ_SITE && objtype != mjOBJ_CAMERA) {
throw mjCError(this, "sensor must be attached to site or camera");
{
// must be attached to site or camera
if (objtype != mjOBJ_SITE && objtype != mjOBJ_CAMERA) {
throw mjCError(this, "sensor must be attached to site or camera");
}
// check for dataspec correctness
int dataspec = intprm[0];
if (dataspec <= 0) {
throw mjCError(this, "data spec (intprm[0]) must be positive, got %d", nullptr, dataspec);
}
int mask = (1 << mjNRAYDATA) - 1;
if (!(dataspec & mask)) {
throw mjCError(this, "data spec intprm[0]=%d must have at least one bit set of the first "
"mjNRAYDATA bits", nullptr, dataspec);
}
if (dataspec & ~mask) {
throw mjCError(this, "data spec intprm[0]=%d has bits set beyond the first "
"mjNRAYDATA bits", nullptr, dataspec);
}
}
break;